version: 66.04
glider: 165
mission: 2
dive: 210
start: 6 24 109 1 32 10
data:
$ID,165
$MISSION,2
$DIVE,210
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-121096.41
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2854
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.66094
$PRESSURE_SLOPE,0.000116182
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043383995
$SEABIRD_T_H,0.00062454981
$SEABIRD_T_I,2.3067754e-05
$SEABIRD_T_J,2.3616824e-06
$SEABIRD_C_G,-9.9113674
$SEABIRD_C_H,1.100266
$SEABIRD_C_I,0.0005534364
$SEABIRD_C_J,6.0498875e-05
$GPS1,012107,2519.729,12408.874,38,1.7,38,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.3
$GPS2,013204,2519.801,12409.068,15,99.0,34,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2500.000,12415.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,213.6,37998,-16.4,-12.000
$D_GRID,2050
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.01,-243.4,0.0,0.0,0,71,0.00,0.00,-57.05,0.000,2,0.000,0.000,143,2107,1922
$GC,73,-1.01,-243.4,3.1,-3.6,8,137,9.10,2.35,-50.17,0.000,4,0.230,0.063,2475,3555,3849
$GC,179,-0.21,-243.4,28.5,-37.0,26,187,0.80,2.17,0.00,0.000,6,0.140,0.040,2746,2154,3851
$GC,507,-0.98,-243.4,59.8,-11.5,87,514,0.62,2.20,0.00,0.000,4,0.060,0.051,2495,3546,3851
$GC,582,-0.42,-243.4,75.2,-26.4,101,589,0.55,2.10,0.00,0.000,6,0.132,0.034,2689,2168,3851
$GC,909,-0.73,-243.4,106.6,-7.2,162,915,0.28,2.17,0.00,0.000,4,0.043,0.061,2551,3542,3852
$GC,979,-0.49,-243.4,117.3,-17.4,175,985,0.30,2.05,0.00,0.000,6,0.117,0.034,2656,2184,3852
$GC,1306,-0.72,-243.4,149.6,-10.3,236,1313,0.20,2.17,0.00,0.000,4,0.049,0.054,2550,3555,3852
$GC,1392,-0.56,-243.4,163.6,-17.0,252,1400,0.22,2.03,0.00,0.000,6,0.108,0.037,2632,2221,3852
$GC,1720,-0.75,-243.4,195.8,-7.6,313,1726,0.15,2.12,0.00,0.000,4,0.058,0.056,2548,3548,3852
$GC,1747,-0.75,-243.4,198.8,-11.6,318,1753,0.00,2.03,0.00,0.000,6,0.000,0.035,2548,2219,3852
$GC,2073,-0.52,-243.4,252.5,-17.6,379,2079,0.32,2.10,0.00,0.000,4,0.123,0.057,2647,3548,3853
$GC,2099,-0.65,-243.4,255.9,-11.8,384,2107,0.08,2.03,0.00,0.000,6,0.050,0.035,2573,2221,3852
$GC,2427,-0.65,-243.4,297.7,-12.5,445,2433,0.12,2.10,0.00,0.000,4,0.123,0.058,2610,3545,3852
$GC,2491,-0.94,-243.4,303.7,-8.1,453,2495,0.22,1.98,0.00,0.000,6,0.035,0.035,2468,2239,3852
$GC,2811,-0.44,-243.4,367.3,-20.1,484,2816,0.65,2.10,0.00,0.000,4,0.136,0.060,2674,3539,3850
$GC,2859,-1.07,-243.4,371.2,-3.4,488,2867,0.50,1.95,0.00,0.000,6,0.049,0.034,2461,2240,3850
$GC,3175,-0.57,-243.4,438.5,-22.9,519,3179,0.55,2.08,0.00,0.000,4,0.137,0.061,2630,3546,3849
$GC,3212,-0.89,-243.4,443.0,-7.6,522,3219,0.22,1.95,0.00,0.000,6,0.037,0.035,2494,2265,3849
$GC,3528,-0.59,-243.4,496.4,-17.4,553,3529,0.40,0.00,0.00,0.000,6,0.124,0.000,2624,2261,3847
$GC,3844,-1.44,-243.4,525.4,-10.0,570,3848,0.70,2.05,0.00,0.000,4,0.061,0.058,2350,3545,3844
$GC,3886,-0.76,-243.4,532.2,-20.2,572,3890,0.68,1.92,0.00,0.000,6,0.151,0.037,2573,2279,3843
$GC,4207,-0.91,-243.4,561.0,-7.7,588,4211,0.15,2.03,0.00,0.000,4,0.060,0.061,2491,3534,3841
$GC,4233,-0.83,-243.4,563.7,-11.5,589,4237,0.15,1.92,0.00,0.000,6,0.119,0.035,2545,2269,3841
$GC,4554,-0.83,-243.4,596.4,-11.0,605,4558,0.00,2.08,0.00,0.000,4,0.000,0.063,2546,3537,3839
$GC,4597,-0.93,-243.4,600.8,-9.7,607,4600,0.00,1.90,0.00,0.000,6,0.000,0.037,2546,2278,3838
$GC,4923,-0.93,-243.4,634.2,-10.6,623,4927,0.00,2.08,0.00,0.000,4,0.000,0.064,2546,3539,3835
$GC,4949,-1.02,-243.4,637.0,-11.0,624,4953,0.12,1.92,0.00,0.000,6,0.044,0.037,2464,2285,3834
$GC,5272,-0.67,-243.4,695.7,-18.7,640,5273,0.45,0.00,0.00,0.000,6,0.133,0.000,2606,2279,3831
$GC,5577,-1.53,-243.4,721.3,-8.8,655,5578,0.77,0.00,0.00,0.000,6,0.077,0.000,2325,2280,3830
$GC,5882,-0.64,-243.4,805.9,-30.1,670,5884,0.98,0.00,0.00,0.000,6,0.176,0.000,2606,2280,3826
$GC,6187,-1.46,-243.4,829.0,-7.8,685,6191,0.70,2.05,0.00,0.000,4,0.081,0.064,2350,3543,3824
$GC,6217,-1.18,-243.4,832.9,-13.4,686,6224,0.28,1.95,0.00,0.000,6,0.157,0.039,2435,2281,3823
$GC,6528,-0.73,-243.4,894.6,-20.4,702,6532,0.47,2.42,0.00,0.000,4,0.142,0.053,2583,742,3821
$GC,6570,-1.02,-243.4,899.7,-7.7,704,6574,0.22,2.42,0.00,0.000,6,0.042,0.046,2466,2270,3821
$GC,6893,-0.74,-243.4,950.9,-16.5,720,6897,0.32,2.05,0.00,0.000,4,0.137,0.064,2564,3539,3818
$GC,6945,-1.02,-243.4,956.6,-8.1,722,6952,0.17,1.95,0.00,0.000,6,0.044,0.036,2468,2267,3818
$STATE,7172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7172,begin apogee
$GC,7177,-0.22,0.0,992.8,16.5,734,7379,0.88,0.00,195.80,1.367,6,0.135,0.000,2747,2454,2854
$STATE,7380,end apogee,CONTROL_FINISHED_OK
$STATE,7380,begin climb
$GC,7382,1.01,243.4,1005.3,0.0,744,7595,1.08,2.17,204.45,1.333,4,0.040,0.064,3165,3681,1860
$GC,7780,0.17,243.4,938.5,25.2,762,7788,1.00,1.95,0.00,0.000,6,0.182,0.042,2884,2462,1853
$GC,8091,0.59,381.1,913.0,7.4,778,8219,0.35,2.40,118.55,1.279,4,0.047,0.053,3041,1040,1299
$GC,8319,0.44,381.1,874.3,17.5,788,8326,0.22,2.28,0.00,0.000,6,0.135,0.045,2969,2425,1293
$GC,8630,0.53,381.1,833.6,12.8,804,8634,0.00,2.22,0.00,0.000,4,0.000,0.050,2977,1034,1291
$GC,8699,0.64,381.1,824.9,13.5,807,8703,0.10,2.22,0.00,0.000,6,0.054,0.044,3036,2417,1290
$GC,9020,0.44,381.1,768.8,17.2,823,9024,0.25,2.20,0.00,0.000,4,0.143,0.049,2972,1023,1290
$GC,9041,0.38,381.1,765.6,15.2,824,9045,0.05,2.20,0.00,0.000,6,0.140,0.044,2942,2402,1289
$GC,9367,0.74,489.4,737.0,8.4,840,9467,0.32,2.30,94.12,1.201,4,0.049,0.051,3090,1042,859
$GC,9520,0.56,489.4,706.0,22.1,847,9524,0.28,2.20,0.00,0.000,6,0.143,0.044,3004,2373,854
$GC,9841,0.65,489.4,659.5,13.8,863,9846,0.00,2.15,0.00,0.000,4,0.000,0.049,3013,1045,851
$GC,9885,0.75,489.4,653.6,14.1,865,9888,0.15,2.10,0.00,0.000,6,0.065,0.044,3085,2366,850
$GC,10210,0.51,489.4,584.4,21.9,881,10214,0.32,2.12,0.00,0.000,4,0.144,0.051,2996,1048,850
$GC,10258,0.70,489.4,577.5,12.8,883,10263,0.10,2.10,0.00,0.000,6,0.053,0.044,3062,2356,849
$GC,10579,0.56,489.4,518.5,18.9,899,10581,0.22,0.00,0.00,0.000,6,0.142,0.000,2995,2357,848
$GC,10887,0.79,495.9,481.7,11.8,921,10898,0.22,2.10,5.40,0.825,4,0.054,0.051,3109,1030,832
$GC,10940,0.58,495.9,471.6,21.2,926,10944,0.30,2.10,0.00,0.000,6,0.144,0.044,3002,2344,832
$GC,11261,0.80,501.6,431.3,11.8,957,11273,0.20,2.08,6.70,0.855,4,0.054,0.051,3111,1036,808
$GC,11348,0.58,501.6,414.2,21.7,965,11352,0.35,2.05,0.00,0.000,6,0.145,0.044,3006,2338,807
$GC,11663,0.84,522.7,374.9,11.3,995,11685,0.22,0.00,19.67,0.937,6,0.050,0.000,3117,2338,722
$GC,11993,0.63,522.7,307.2,19.8,1027,11997,0.32,2.05,0.00,0.000,4,0.141,0.050,3028,1041,720
$GC,12041,0.92,566.5,300.9,10.6,1031,12090,0.20,2.03,44.83,0.889,6,0.039,0.041,3135,2318,543
$GC,12409,0.75,566.5,220.9,22.8,1098,12416,0.25,2.05,0.00,0.000,4,0.137,0.048,3069,1044,525
$GC,12474,0.90,566.5,209.9,15.5,1110,12481,0.08,1.95,0.00,0.000,6,0.054,0.041,3130,2272,524
$GC,12801,0.82,566.5,149.5,16.7,1171,12808,0.17,0.00,0.00,0.000,6,0.134,0.000,3078,2272,524
$GC,13128,1.09,579.9,112.7,11.6,1232,13146,0.25,1.98,11.00,0.683,4,0.048,0.048,3202,1039,487
$GC,13156,0.98,579.9,107.8,18.7,1237,13162,0.22,1.95,0.00,0.000,6,0.140,0.040,3130,2285,484
$GC,13482,1.16,579.9,59.0,12.3,1298,13489,0.17,1.95,0.00,0.000,4,0.054,0.045,3226,1045,478
$GC,13521,1.00,579.9,53.0,18.1,1305,13526,0.22,1.90,0.00,0.000,6,0.133,0.039,3137,2271,478
$GC,13847,1.29,633.8,16.4,10.2,1366,13853,0.25,0.00,0.00,0.000,6,0.046,0.000,3258,2271,477
$STATE,13914,end climb,SURFACE_DEPTH_REACHED
$STATE,13914,begin surface coast
$FINISH,1.8,1.021494
$STATE,13925,end surface coast,CONTROL_FINISHED_OK
$STATE,13925,begin surface
$SM_CCo,14000,0.00,0.000,0,0,477,583.08
$SM_GC,2.43,7.82,0.00,0.00,0.033,0.000,0.000,159,2098,477,-8.21,-1.05,583.08
$IRIDIUM_FIX,2507.97,12409.16,180998,010155
$TT8_MAMPS,0.049088
$HUMID,1613
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.70
$XPDR_PINGS,219
$24V_AH,23.7,46.315
$10V_AH,10.7,31.367
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,38.075,121.775,700.525,0.000,0.000,54.352,72.263,327.081,62.750,0.000,0.000,37.855,0.000,9829.502,806.494,3278.733,715.207,0.000,2055.225,0.000,2749.849,0.000,53.985,0.000
$DEVICE_MAMPS,230.100,63.661,1366.794,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,931.324,1005.417,1579.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78830,1381
$CAP_FILE_SIZE,163206,0
$CFSIZE,260165632,240447488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.343, 72.8,1
$GPS,240609,052630,2518.333,12409.721,36,1.1,41,-3.8